function graviationForce = calcugraviationForce(positionNow,goalPoint,k,angleGoal)

r=sqrt((positionNow(1)-goalPoint(1))^2+(positionNow(2)-goalPoint(2))^2+(positionNow(2)-goalPoint(2))^2);


graviationForce(1)=k*r*angleGoal(1);
graviationForce(2)=k*r*angleGoal(2);
graviationForce(3)=k*r*angleGoal(3);
end

